So what Elon Musk and SpaceX ultimately invented is not something I think you can just dismiss as "might have been created a few years later [and] the consequence would have been small". A few decades isn't a small thing, but even a few years isn't necessarily small during most of modern history. A few years would have been a big deal for the US if Russia still had a monopoly on getting humans to space for example when they launched their full scale invasion. SpaceX has revolutionized satellite comms as well, again not because of any radical tech change but just because being have stupendous history changing amounts of raw mass and cadence to work with for cheap allows whole new approaches. Quoting Ars, last year SpaceX put 1.86 million kg into space, followed by China (164,000 kg) and Roscosmos (76,000). The closest US competitor was United Launch Alliance, at 29,000 kg. Now they've set a new light to follow and aren't slowing down.
You can find endless examples once you start looking, both for good and for ill (awesome tech that died on the vine). I don't think our paths are remotely as inevitable as it has become trendy to claim. It's perfectly reasonable to acknowledge that yes, of course everyone stands on the shoulders of giants. But that doesn't change the fact that doing that standing is hard work and can be key to actually changing the world.